version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 607
start: 8 2 117 13 6 43
data:
$ID,574
$MISSION,23
$DIVE,607
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,343
$T_ABORT,400
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,0
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,170
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,270
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,57
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,74
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2465
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,96.25
$MINV_24V,19
$MINV_10V,8.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.230709
$PRESSURE_SLOPE,0.0001171049
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,30
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,020817,125532,-3343.6787,2719.7000,4,0.8,5,-27.7,0.0,347.8,10,91.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-78.8
$GPS2,020817,130554,-3343.6035,2719.7891,40,0.8,40,-27.7,0.5,243.8,11,6.6
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3354.239,2722.048
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,197.7,20000,-13.3,-10.010,-16.52,4021
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-175.2,126,2044,1228,1060,0.0,0.0,0,88,0.00,0.00,-70.25,0.000,16386,0.000,0.000,126,2044,3111,3120,3102,0,0,0,0,0,0,26.21,28.83,26.22
$GC,91,-0.45,-175.2,125,2045,3120,3103,3.8,-5.5,9,110,10.07,2.15,-1.30,0.000,18692,0.221,0.041,2645,3443,3181,3194,3169,0,0,0,0,0,0,25.18,24.12,25.38
$GC,130,-0.45,-175.2,2645,3443,3204,3162,15.1,-26.0,14,139,0.00,2.15,0.00,0.000,1030,0.000,0.026,2645,2044,3182,3206,3159,0,0,0,0,0,0,25.95,25.87,25.96
$GC,190,-0.45,-175.2,2645,2039,3208,3156,22.1,-11.4,23,198,0.00,2.15,0.00,0.000,516,0.000,0.028,2645,639,3182,3208,3156,0,0,0,0,0,0,26.32,25.92,26.32
$GC,215,-0.45,-175.2,2645,638,3208,3156,25.1,-12.6,26,224,0.08,2.15,0.00,0.000,3078,0.144,0.028,2659,2016,3182,3209,3156,0,0,0,0,0,0,25.70,25.94,25.79
$GC,277,-0.45,-175.2,2658,2015,3210,3155,32.5,-11.6,35,285,0.00,2.22,0.00,0.000,260,0.000,0.034,2649,3466,3182,3209,3155,0,0,0,0,0,0,26.36,25.96,26.38
$GC,366,-0.45,-175.2,2648,3467,3210,3155,42.3,-11.1,49,372,0.00,2.12,0.00,0.000,1030,0.000,0.024,2649,2040,3182,3210,3155,0,0,0,0,0,0,26.10,26.03,26.13
$GC,416,-0.45,-175.2,2649,2036,3212,3153,47.9,-10.2,58,422,0.00,2.08,0.00,0.000,516,0.000,0.027,2649,644,3183,3213,3153,0,0,0,0,0,0,26.44,26.02,26.44
$GC,471,-0.45,-175.2,2648,643,3213,3154,53.8,-11.1,67,478,0.00,2.15,0.00,0.000,1030,0.000,0.028,2639,2055,3183,3213,3153,0,0,0,0,0,0,26.13,26.05,26.16
$GC,521,-0.45,-175.2,2638,2055,3213,3153,59.7,-11.4,76,530,0.00,2.12,0.00,0.000,260,0.000,0.033,2629,3454,3182,3212,3153,0,0,0,0,0,0,26.47,26.03,26.48
$GC,576,-0.45,-175.2,2628,3454,3212,3153,65.5,-10.1,85,583,0.10,2.10,0.00,0.000,3078,0.134,0.025,2661,2045,3182,3212,3153,0,0,0,0,0,0,25.87,26.08,25.99
$GC,628,-0.45,-175.2,2660,2040,3213,3152,70.7,-8.8,94,635,0.00,2.08,0.00,0.000,516,0.000,0.028,2661,643,3182,3213,3152,0,0,0,0,0,0,26.48,26.08,26.50
$GC,682,-0.45,-175.2,2661,643,3213,3153,75.5,-9.5,103,688,0.00,2.12,0.00,0.000,1030,0.000,0.026,2652,2053,3182,3213,3152,0,0,0,0,0,0,26.19,26.10,26.21
$GC,733,-0.45,-175.2,2652,2053,3213,3152,80.8,-9.3,112,740,0.00,2.12,0.00,0.000,260,0.000,0.034,2642,3453,3182,3213,3152,0,0,0,0,0,0,26.51,26.06,26.52
$GC,769,-0.45,-175.2,2641,3452,3213,3152,84.3,-9.3,118,776,0.00,2.08,0.00,0.000,1030,0.000,0.024,2642,2050,3182,3213,3152,0,0,0,0,0,0,26.20,26.13,26.23
$GC,822,-0.45,-175.2,2641,2045,3214,3152,89.6,-10.1,127,830,0.00,2.10,0.00,0.000,516,0.000,0.030,2642,640,3183,3214,3152,0,0,0,0,0,0,26.53,26.09,26.54
$GC,880,-0.45,-175.2,2641,639,3214,3152,96.1,-10.8,137,887,0.10,2.15,0.00,0.000,3078,0.145,0.028,2663,2059,3183,3214,3152,0,0,0,0,0,0,25.89,26.13,26.01
$GC,936,-0.45,-175.2,2663,2059,3214,3152,101.1,-7.8,146,945,0.00,2.08,0.00,0.000,260,0.000,0.034,2654,3457,3182,3214,3151,0,0,0,0,0,0,26.55,26.09,26.56
$GC,978,-0.45,-175.2,2653,3457,3214,3152,104.7,-8.5,150,987,0.00,2.10,0.00,0.000,1030,0.000,0.024,2654,2036,3182,3213,3152,0,0,0,0,0,0,26.24,26.16,26.26
$GC,1169,-0.45,-175.2,2653,2032,3215,3151,123.0,-8.6,169,1178,0.00,2.05,0.00,0.000,516,0.000,0.030,2654,642,3183,3215,3151,0,0,0,0,0,0,26.58,26.14,26.60
$GC,1273,-0.45,-175.2,2653,642,3215,3151,132.3,-9.4,179,1282,0.00,2.12,0.00,0.000,1030,0.000,0.028,2644,2052,3183,3215,3151,0,0,0,0,0,0,26.25,26.17,26.28
$GC,1465,-0.45,-175.2,2644,2051,3215,3151,150.7,-10.1,198,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2051,3183,3215,3151,0,0,0,0,0,0,26.60,26.60,26.60
$STATE,1610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1610,begin apogee
$GC,1616,0.00,0.0,2644,1749,3215,3151,166.6,-10.1,213,1753,0.50,0.05,130.43,0.705,10246,0.115,0.118,2806,1836,2464,2526,2403,0,0,0,0,0,0,25.77,24.99,24.36
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1757,0.45,175.2,2806,1836,2525,2403,174.8,0.0,227,1904,0.43,2.35,133.93,0.698,10756,0.050,0.033,2988,407,1747,1839,1656,0,0,0,0,0,0,25.20,24.86,24.23
$GC,1957,0.45,175.2,2987,406,1828,1656,162.2,10.8,247,1967,0.10,2.12,0.00,0.000,5126,0.149,0.027,2960,1765,1742,1829,1656,0,0,0,0,0,0,25.20,25.42,25.37
$GC,2149,0.45,175.2,2960,1766,1830,1654,142.9,10.1,266,2157,0.00,2.10,0.00,0.000,516,0.000,0.033,2969,398,1740,1827,1654,0,0,0,0,0,0,26.17,25.77,26.18
$GC,2240,0.50,217.4,2968,397,1825,1654,134.4,8.9,275,2281,0.00,2.15,33.97,0.664,9222,0.000,0.024,2969,1807,1576,1674,1479,0,0,0,0,0,0,26.00,25.92,24.75
$GC,2460,0.50,217.4,2968,1810,1668,1478,109.0,11.8,297,2469,0.00,2.17,0.00,0.000,516,0.000,0.034,2978,401,1572,1666,1478,0,0,0,0,0,0,26.22,25.80,26.23
$GC,2522,0.50,217.4,2978,401,1661,1477,102.7,10.1,303,2531,0.00,2.12,0.00,0.000,1030,0.000,0.021,2978,1803,1569,1661,1478,0,0,0,0,0,0,26.02,25.95,26.05
$GC,2720,0.50,217.4,2978,1808,1662,1477,82.5,11.4,337,2727,0.00,2.10,0.00,0.000,260,0.000,0.031,2978,3204,1570,1662,1478,0,0,0,0,0,0,26.40,26.01,26.41
$GC,2757,0.50,217.4,2978,3204,1661,1477,78.6,10.4,343,2763,0.00,2.10,0.00,0.000,1030,0.000,0.028,2989,1807,1569,1661,1477,0,0,0,0,0,0,26.11,26.03,26.15
$GC,2807,0.50,217.4,2988,1807,1661,1478,72.6,11.7,352,2815,0.00,2.22,0.00,0.000,516,0.000,0.037,3000,392,1568,1660,1477,0,0,0,0,0,0,26.44,25.98,26.45
$GC,2861,0.50,217.4,2999,391,1655,1477,66.0,13.0,361,2868,0.00,2.15,0.00,0.000,1030,0.000,0.028,3000,1799,1567,1657,1478,0,0,0,0,0,0,26.15,26.06,26.18
$GC,2912,0.50,217.4,3000,1799,1657,1478,59.0,14.2,370,2918,0.00,2.12,0.00,0.000,260,0.000,0.031,3000,3218,1567,1657,1478,0,0,0,0,0,0,26.47,26.06,26.48
$GC,2947,0.50,217.4,2999,3218,1657,1478,54.1,13.0,376,2956,0.10,2.17,0.00,0.000,5126,0.155,0.030,2980,1803,1567,1657,1478,0,0,0,0,0,0,25.76,26.08,25.85
$GC,3002,0.50,217.4,2979,1803,1657,1478,48.1,11.5,385,3008,0.00,2.17,0.00,0.000,516,0.000,0.035,2989,383,1567,1657,1478,0,0,0,0,0,0,26.49,26.02,26.51
$GC,3021,0.50,217.4,2989,382,1655,1478,45.7,11.2,388,3029,0.00,2.20,0.00,0.000,1030,0.000,0.028,2989,1795,1566,1656,1477,0,0,0,0,0,0,26.13,26.10,26.17
$GC,3075,0.50,217.4,2989,1795,1657,1478,39.9,11.1,397,3083,0.00,2.17,0.00,0.000,260,0.000,0.031,2989,3216,1566,1656,1477,0,0,0,0,0,0,26.51,26.07,26.52
$GC,3128,0.50,217.4,2989,3215,1657,1478,33.6,12.0,405,3137,0.00,2.17,0.00,0.000,1030,0.000,0.028,3000,1793,1567,1657,1478,0,0,0,0,0,0,26.16,26.11,26.18
$GC,3188,0.50,217.4,2999,1793,1657,1478,27.1,11.7,414,3197,0.00,2.20,0.00,0.000,516,0.000,0.037,3010,387,1566,1655,1478,0,0,0,0,0,0,26.53,26.04,26.54
$GC,3241,0.50,217.4,3010,386,1652,1478,20.6,11.7,422,3251,0.10,2.20,0.00,0.000,5126,0.121,0.029,2978,1800,1566,1655,1477,0,0,0,0,0,0,25.87,26.12,25.95
$GC,3302,0.54,249.2,2977,1801,1656,1477,15.0,9.2,431,3327,0.00,2.15,14.32,0.542,8452,0.000,0.030,2978,3214,1447,1549,1346,0,0,0,0,0,0,26.55,25.84,25.13
$GC,3413,0.55,256.9,2977,3213,1546,1346,5.2,9.8,448,3423,0.00,2.17,3.47,0.317,9222,0.000,0.029,2986,1801,1416,1519,1314,0,0,0,0,0,0,26.08,26.04,24.89
$STATE,3437,end climb,SURFACE_DEPTH_REACHED
$STATE,3437,begin surface coast
$FINISH,0.6,1.026200
$STATE,3474,end surface coast,CONTROL_FINISHED_OK
$STATE,3474,begin surface
$SM_CCo,3492,5.03,0.050,0,0,1363,270.07
$SM_GC,2.48,7.40,0.38,5.03,0.027,0.035,0.050,126,2083,1363,-8.29,-1.24,270.07,0,0,0,0,0,0,26.10,26.16,25.97
$IRIDIUM_FIX,-3330.55,2716.79,020817,105412
$TT8_MAMPS,0.025466,0.289863
$HUMID,61.30
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.3,21.0
$24V_AH,24.12,56.009
$10V_AH,10.08,29.121
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.975,86.625,316.125,5.025,0.000,25.652,44.471,380.165,3.750,0.000,48.108,1100.799,826.918,447.676,1593.524,179.814,0.000,1002.044,0.000,1084.883,0.000,24.929,0.000
$DEVICE_MAMPS,221.085,117.810,705.330,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.972,113.928,504.325,729.751,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343412
$DATA_FILE_SIZE,33620,457
$CAP_FILE_SIZE,81832,0
$CFSIZE,2097086464,2029518848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,140542,-3343.535,2719.993,4,1.0,5,-27.7,0.0,0.0,9,123.3